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Nested autonomy for unmanned marine vehicles with MOOS‐IvP
Author(s) -
Benjamin Michael R.,
Schmidt Henrik,
Newman Paul M.,
Leonard John J.
Publication year - 2010
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20370
Subject(s) - scalability , suite , software deployment , software , computer science , autonomy , architecture , middleware (distributed applications) , latency (audio) , systems engineering , engineering , distributed computing , telecommunications , software engineering , operating system , geography , archaeology , political science , law
This document describes the MOOS‐IvP autonomy software for unmanned marine vehicles and its use in large‐scale ocean sensing systems. MOOS‐IvP is composed of two open‐source software projects funded by the Office of Naval Research. MOOS provides a core autonomy middleware capability, and the MOOS project additionally provides a set of ubiquitous infrastructure utilities. The IvP Helm is the primary component of an additional set of capabilities implemented to form a full marine autonomy suite known as MOOS‐IvP. This software and architecture are platform and mission agnostic and allow for a scalable nesting of unmanned vehicle nodes to form large‐scale, long‐endurance ocean sensing systems composed of heterogeneous platform types with varying degrees of communications connectivity, bandwidth, and latency. © 2010 Wiley Periodicals, Inc.